#ifndef __FKINE_H
#define __FKINE_H

#include "pose.h"

typedef struct{
    float q[6];
    float T[16];
}fkine_t;

typedef struct {
    int X;
    int Y;
    int Z;
    float Roll;
    float Pitch;
    float Yaw;
}robot_t;

void fkine_fun(fkine_t *kine);
void J23_fkine(pose_t *fkine);



#endif
